Differences

This shows you the differences between two versions of the page.

--- build_your_own [2019/04/25 15:31] – [Playing with the Delta robot] graf
+++ build_your_own [2019/04/25 15:57] (current) – removed graf
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-====== Build the Software ======
-===== Preparations =====
-==== Linux ====
-You need any 64-Bit Linux Version (VM or standalone).
-==== Start your Beagle Bone Blue ====
-  * Connect the micro USB with the PC.
-  * It takes about 15 seconds until the Beagle Bone Blue is powered up and another 15 seconds until a network adapter is shown on your host pc. Open a Terminal and check if this network is already available.
-<code>$ ifconfig </code>
-  * Connect via ssh to your Beagle Bone Blue
-<code>$ ssh debian@192.168.7.2</code>
-  * Default credentials are "root:toor" or "debian:temppwd"
-==== Login ====
-The first time you do this you will get a security alert in the console - type "yes" and hit enter.
-Then enter the password "temppwd" and confirm with enter. Don't be alarmed if the console does not response while you type your password.
-===== Build the EEDURO software=====
-Clone the git repository from [[https://github.com/eeduro/eeduro-scripts|]].
-<code>
-$ git clone https://github.com/eeduro/eeduro-scripts.git
-</code>
-Go into the ''delta'' folder and run the ''clone.sh'' script.
-<code>
-$ ./clone.sh
-</code>
-This will clone all the necessary repositories.
-The library for the roboticscape must be compiled manually. Though the library is already on the target, we must also have it on the host, in order to be able to link an application. At the time of writing, the BeagleBone Blue Boards are shipped with an image that has the robotics cape library version 0.3.4 installed. Therefore, it is highly recommended to use this version. The bbblue-eeros wrapper library was implemented to work with the robotics cape library v0.3.4. Newer version were not tested yet. When using the clone.sh script, the correect version is checked out per default and no additional step is necessary.
-To compile the library, change into:
-<code>
-$ cd robotics_cape_installer/libraries
-</code>
-and edit the ''Makefile'' therein. Change the following to lines from
-<code>
-CC		:= gcc
-LINKER		:= gcc
-</code>
-to
-<code>
-CC		:= arm-linux-gnueabihf-gcc-4.9
-LINKER		:= arm-linux-gnueabihf-gcc-4.9
-</code>
-This change is necessary because the library must be compiled with the cross compiler.
-Now, the cross tool chain is installed on the host machine with the following command.
-<code>
-$ sudo apt-get install g++-4.9-arm-linux-gnueabihf
-</code>
-Then, the roboticscape library is compiled using make.
-<code>
-$ make
-</code>
-Change back into your project directory and start the compilation of EEROS, the hardware wrapper library, and the delta application with
-<code>
-$ ./make.sh
-</code>
-Finally, load the executable onto the target (see notes below if you are doing this on a brand new board) with
-<code>
-$ ./deploy.sh
-</code>
-The default password on the BeagleBone Blue Board is "temppwd". Edit the ''deploy.txt'' file to define which files are downloaded. \\
-==== Notes ====
-When the BeagleBone Blue Board is used the first time (never used with EEROS before or a brand new BeagleBone Blue / Image), some initial setup steps are needed. The script **deploy.sh** will copy the executable and libraries to **/opt/eeros**. Therefore, this folder must be present on the target or the copy fails. To create the folder, execute the following on the BeagleBone:
-<code>
-debian@beaglebone:$ sudo mkdir /opt/eeros
-debian@beaglebone:$ sudo chown debian:debian /opt/eeros/
-</code>
-Also, some links must be created. The system must find the eeros libraries to load them. The following symbolic links are needed:
-<code>
-debian@beaglebone:$ cd /usr/lib/
-debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libbbblueeeros.so.1.0.0.0 libbbblueeeros.so.1.0.0.0
-debian@beaglebone:$ sudo ln -s libbbblueeeros.so.1.0.0.0 libbbblueeeros.so
-debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libeeros.so.1.0.0.30 libeeros.so.1.0.0.30
-debian@beaglebone:$ sudo ln -s libeeros.so.1.0.0.30 libeeros.so
-</code>
-Make sure the version information (....so.1.0.0.0) is not outdated! This can be checked by browsing the **BeagleBoneBlue/install-armhf/lib/** folder.
-===== Calibrate the Delta robot =====
-If you need to calibrate the positions of the blocks for the Delta robot follow this steps:
-  - The Delta robot has to be powered up and running
-  - If the Delta is not in it's homing position:
-     - Press the blue button to stop the normal operating mode
-  - Else:
-     - Press the green and blue button
-  - Remove all plates
-You have to calibrate the Delta with each plate. Start with plate 0 -> that means no plate is used, and position 0.
-  - Put the actual plate to the actual position and move the TCP to the center of this position.
-  - Hit the blue button.
-  - Move the TCP inside the gap of the current block only in x and y direction.
-  - Hit the blue button again.
-  - If the actual position is number 3 go to the next step. Else increment the position number and start again with step 1.
-  - If the actual plate is number 3 you are finished. Else use the plate with the next higher number and start again with step 1.
-If you have calibrated all blocks on every position, put all blocks back and press the blue button. The Delta will move to it's homing position.
-===== Run the application on startup =====
-To run Delta application on startup just copy the //start.sh// from the //bbblue-scipts// folder on your target:
-<code>
-scp ./bbblue-scripts/start.sh debian@192.168.7.2:/opt/eeros/bin
-</code>
-and make sure that it's executable:
-<code>
-debian@beaglebone:$ sudo chmod +x /opt/eeros/bin/start.sh
-</code>
-In the ''rc.local'' file on your target add the following line:
-<code>
-sudo screen -dmS delta /opt/eeros/bin/start.sh
-</code>
-This script will start the Delta application in a detached screen. To see the log output from the application just reattach to this screen session.
-<code>
-debian@beaglebone:$ sudo screen -r delta
-</code>
-If the Delta application terminates the BeagleBoneBlue will shutdown.